Im trying to get a MG945 motor to spin back and forth with the ability to stop but right now the motor is spinning back and forth in circles and it doesn't stop. Just wondering how not get it to spin in cirlces.
/*********************************************************************
This is an example for our nRF51822 based Bluefruit LE modules
Pick one up today in the adafruit shop!
Adafruit invests time and resources providing this open source code,
please support Adafruit and open-source hardware by purchasing
products from Adafruit!
MIT license, check LICENSE for more information
All text above, and the splash screen below must be included in
any redistribution
*********************************************************************/
#include <stdio.h>
#include <Arduino.h>
#include <SPI.h>
#include "Adafruit_BLE.h"
#include "Adafruit_BluefruitLE_SPI.h"
#include "Adafruit_BluefruitLE_UART.h"
#include "BluefruitConfig.h"
#if SOFTWARE_SERIAL_AVAILABLE
#include <SoftwareSerial.h>
#endif
/*=========================================================================
APPLICATION SETTINGS
FACTORYRESET_ENABLE Perform a factory reset when running this sketch
Enabling this will put your Bluefruit LE module
in a 'known good' state and clear any config
data set in previous sketches or projects, so
running this at least once is a good idea.
When deploying your project, however, you will
want to disable factory reset by setting this
value to 0. If you are making changes to your
Bluefruit LE device via AT commands, and those
changes aren't persisting across resets, this
is the reason why. Factory reset will erase
the non-volatile memory where config data is
stored, setting it back to factory default
values.
Some sketches that require you to bond to a
central device (HID mouse, keyboard, etc.)
won't work at all with this feature enabled
since the factory reset will clear all of the
bonding data stored on the chip, meaning the
central device won't be able to reconnect.
MINIMUM_FIRMWARE_VERSION Minimum firmware version to have some new features
MODE_LED_BEHAVIOUR LED activity, valid options are
"DISABLE" or "MODE" or "BLEUART" or
"HWUART" or "SPI" or "MANUAL"
-----------------------------------------------------------------------*/
#define FACTORYRESET_ENABLE 1
#define MINIMUM_FIRMWARE_VERSION "0.6.6"
#define MODE_LED_BEHAVIOUR "MODE"
/*=========================================================================*/
// Create the bluefruit object, either software serial...uncomment these lines
/*
SoftwareSerial bluefruitSS = SoftwareSerial(BLUEFRUIT_SWUART_TXD_PIN, BLUEFRUIT_SWUART_RXD_PIN);
Adafruit_BluefruitLE_UART ble(bluefruitSS, BLUEFRUIT_UART_MODE_PIN,
BLUEFRUIT_UART_CTS_PIN, BLUEFRUIT_UART_RTS_PIN);
*/
/* ...or hardware serial, which does not need the RTS/CTS pins. Uncomment this line */
// Adafruit_BluefruitLE_UART ble(Serial1, BLUEFRUIT_UART_MODE_PIN);
/* ...hardware SPI, using SCK/MOSI/MISO hardware SPI pins and then user selected CS/IRQ/RST */
Adafruit_BluefruitLE_SPI ble(BLUEFRUIT_SPI_CS, BLUEFRUIT_SPI_IRQ, BLUEFRUIT_SPI_RST);
/* ...software SPI, using SCK/MOSI/MISO user-defined SPI pins and then user selected CS/IRQ/RST */
//Adafruit_BluefruitLE_SPI ble(BLUEFRUIT_SPI_SCK, BLUEFRUIT_SPI_MISO,
// BLUEFRUIT_SPI_MOSI, BLUEFRUIT_SPI_CS,
// BLUEFRUIT_SPI_IRQ, BLUEFRUIT_SPI_RST);
// A small helper
void error(const __FlashStringHelper*err) {
Serial.println(err);
while (1);
}
/**************************************************************************/
/*!
@brief Sets up the HW an the BLE module (this function is called
automatically on startup)
*/
/**************************************************************************/
#include <Servo.h>
Servo ESC;
Servo ESCLR;
Servo TURN;
void setup(void)
{
while (!Serial); // required for Flora & Micro
delay(500);
Serial.begin(115200);
Serial.println(F("Adafruit Bluefruit Command Mode Example"));
Serial.println(F("---------------------------------------"));
/* Initialise the module */
Serial.print(F("Initialising the Bluefruit LE module: "));
if ( !ble.begin(VERBOSE_MODE) )
{
error(F("Couldn't find Bluefruit, make sure it's in CoMmanD mode & check wiring?"));
}
Serial.println( F("OK!") );
if ( FACTORYRESET_ENABLE )
{
/* Perform a factory reset to make sure everything is in a known state */
Serial.println(F("Performing a factory reset: "));
if ( ! ble.factoryReset() ){
error(F("Couldn't factory reset"));
}
}
/* Disable command echo from Bluefruit */
ble.echo(false);
Serial.println("Requesting Bluefruit info:");
/* Print Bluefruit information */
ble.info();
Serial.println(F("Please use Adafruit Bluefruit LE app to connect in UART mode"));
Serial.println(F("Then Enter characters to send to Bluefruit"));
Serial.println();
ble.verbose(false); // debug info is a little annoying after this point!
/* Wait for connection */
while (! ble.isConnected()) {
delay(500);
}
// LED Activity command is only supported from 0.6.6
if ( ble.isVersionAtLeast(MINIMUM_FIRMWARE_VERSION) )
{
// Change Mode LED Activity
Serial.println(F("******************************"));
Serial.println(F("Change LED activity to " MODE_LED_BEHAVIOUR));
ble.sendCommandCheckOK("AT+HWModeLED=" MODE_LED_BEHAVIOUR);
Serial.println(F("******************************"));
}
ESC.attach(3,1000,2000);
ESCLR.attach(5,1000,2000);
TURN.attach(6);
}
/**************************************************************************/
/*!
@brief Constantly poll for new command or response data
*/
/**************************************************************************/
int power = 0;
int powerLR = 0;
int turnVal = 0;
bool down = false;
bool up = false;
bool left = false;
bool right = false;
bool one = false;
bool two = false;
bool off = false;
// !B417 <- 4 // OFF
void loop(void)
{
if (up) {
power += 1;
if (power > 180) {
power = 180;
}
}
if (down) {
power -= 1;
if (power < 0) {
power = 0;
}
}
if (right) {
powerLR += 1;
if (powerLR > 180) {
powerLR = 180;
}
}
if (left) {
powerLR -= 1;
if (powerLR < 0) {
powerLR = 0;
}
}
if (two) {
turnVal += 1;
if (turnVal > 180) {
turnVal = 180;
}
}
if (one) {
turnVal -= 1;
if (turnVal < 0) {
turnVal = 0;
}
}
if (off){
powerLR = 0;
power = 0;
turnVal = 0;
}
//Serial.println(power);
ESC.write(power);
ESCLR.write(powerLR);
TURN.write(turnVal);
// Check for incoming characters from Bluefruit
ble.println("AT+BLEUARTRX");
ble.readline();
if (strcmp(ble.buffer, "OK") == 0) {
// no data
return;
}
// Some data was found, its in the buffer
char* sentData = ble.buffer;
Serial.print(F("[Recv] '")); Serial.print(sentData); Serial.println("'");
if (!strcmp(sentData, "!B516")) {
up = true;
} else if (!strcmp(sentData, "!B507")) {
up = false;
} else if (!strcmp(sentData, "!B615")) {
down = true;
} else if (!strcmp(sentData, "!B606")) {
down = false;
}
// left/right starts
if (!strcmp(sentData, "!B714")) {
left = true;
} else if (!strcmp(sentData, "!B705")) {
left = false;
} else if (!strcmp(sentData, "!B813")) {
right = true;
} else if (!strcmp(sentData, "!B804")) {
right = false;
}
// servo one / two
if (!strcmp(sentData, "!B11:")) {
one = true;
} else if (!strcmp(sentData, "!B10;")) {
one = false;
} else if (!strcmp(sentData, "!B219")) {
two = true;
} else if (!strcmp(sentData, "!B20:")) {
two = false;
}
// OFF
if (!strcmp(sentData, "!B417")) {
off = true;
}
if (!strcmp(sentData, "!B318")) {
off = false;
}
ble.waitForOK();
}
